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<div class="title">grid_projection.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_GRID_PROJECTION_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SURFACE_GRID_PROJECTION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/boost.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/reconstruction.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> I_SHIFT_EP[12][2] = {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    {0, 4}, {1, 5}, {2, 6}, {3, 7}, </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    {0, 1}, {1, 2}, {2, 3}, {3, 0},</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    {4, 5}, {5, 6}, {6, 7}, {7, 4}</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  };</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> I_SHIFT_PT[4] = {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    0, 4, 5, 7</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  };</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> I_SHIFT_EDGE[3][2] = {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {0,1}, {1,3}, {1,2}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  };</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html">   72</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_grid_projection.html">GridProjection</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_surface_reconstruction.html">SurfaceReconstruction</a>&lt;PointNT&gt;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;GridProjection&lt;PointNT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const GridProjection&lt;PointNT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_surface_reconstruction.html">SurfaceReconstruction&lt;PointNT&gt;::input_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_surface_reconstruction.html">SurfaceReconstruction&lt;PointNT&gt;::tree_</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointNT&gt;::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_kd_tree.html">pcl::KdTree&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_kd_tree.html">KdTree</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::KdTree&lt;PointNT&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structpcl_1_1_grid_projection_1_1_leaf.html">   87</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_grid_projection_1_1_leaf.html">Leaf</a></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="structpcl_1_1_grid_projection_1_1_leaf.html">Leaf</a> () : data_indices (), pt_on_surface (), vect_at_grid_pt () {}</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        std::vector&lt;int&gt; data_indices;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        Eigen::Vector4f pt_on_surface; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        Eigen::Vector3f vect_at_grid_pt;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      };</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">typedef</span> boost::unordered_map&lt;int, Leaf, boost::hash&lt;int&gt;, std::equal_to&lt;int&gt;, Eigen::aligned_allocator&lt;int&gt; &gt; HashMap;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a79cb25cd43c17040722912dbffa5ca22">GridProjection</a> ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a79cb25cd43c17040722912dbffa5ca22">GridProjection</a> (<span class="keywordtype">double</span> in_resolution);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a64f6ad98a1afff0c76ff557c68ae7b29">~GridProjection</a> ();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#af8ccfe1a2c8d66ca9a126d33096d2496">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#af8ccfe1a2c8d66ca9a126d33096d2496">setResolution</a> (<span class="keywordtype">double</span> resolution)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <a class="code" href="classpcl_1_1_grid_projection.html#a3cee8f9aa36b1bb5dc4370b90e827c8e">leaf_size_</a> = resolution;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      getResolution ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_grid_projection.html#a3cee8f9aa36b1bb5dc4370b90e827c8e">leaf_size_</a>);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a7661621ee4c96b46571cc5778b9b48cf">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a7661621ee4c96b46571cc5778b9b48cf">setPaddingSize</a> (<span class="keywordtype">int</span> padding_size)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classpcl_1_1_grid_projection.html#a6e450c217b04e02ef42278defbf7d5ea">padding_size_</a> = padding_size;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      getPaddingSize ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_grid_projection.html#a6e450c217b04e02ef42278defbf7d5ea">padding_size_</a>);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#ab668b2eefe9c9136c06956ad312e6704">  149</a></span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#ab668b2eefe9c9136c06956ad312e6704">setNearestNeighborNum</a> (<span class="keywordtype">int</span> k)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <a class="code" href="classpcl_1_1_grid_projection.html#a62fd3015c12f93c2b6c9708c05350587">k_</a> = k;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      getNearestNeighborNum ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_grid_projection.html#a62fd3015c12f93c2b6c9708c05350587">k_</a>);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a86f788e943e8660d1806688f8a56aec3">  164</a></span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a86f788e943e8660d1806688f8a56aec3">setMaxBinarySearchLevel</a> (<span class="keywordtype">int</span> max_binary_search_level)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <a class="code" href="classpcl_1_1_grid_projection.html#aa50cfdd9a31a847389e5bcd56a4cb5e0">max_binary_search_level_</a> = max_binary_search_level;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      getMaxBinarySearchLevel ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_grid_projection.html#aa50cfdd9a31a847389e5bcd56a4cb5e0">max_binary_search_level_</a>);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> HashMap&amp; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      getCellHashMap ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_grid_projection.html#a0fe973720c8ca47f13a76bff939ebff8">cell_hash_map_</a>);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt;&amp; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      getVectorAtDataPoint ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_grid_projection.html#a98f838a58b1fec937bcfe4df9e6186bd">vector_at_data_point_</a>);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt;&amp; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      getSurface ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_grid_projection.html#a81f1d32f2f3c2cab29be06f658fe8fbd">surface_</a>);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a3a200448054e67bd9f6117ebf81a1056">getBoundingBox</a> ();</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a0f79063799f9c6f47e8b8c7a61bae696">reconstructPolygons</a> (std::vector&lt;pcl::Vertices&gt; &amp;polygons);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a0022be10a74f9928ca95c566a0cb0de5">performReconstruction</a> (<a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;output);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a0022be10a74f9928ca95c566a0cb0de5">performReconstruction</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;points, </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                             std::vector&lt;pcl::Vertices&gt; &amp;polygons);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a5411849e36c65f0f841290f9aa9fb562">scaleInputDataPoint</a> (<span class="keywordtype">double</span> scale_factor);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a3dc6098c925df8dd7d769cdd9a48d388">  246</a></span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a3dc6098c925df8dd7d769cdd9a48d388">getCellIndex</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, Eigen::Vector3i&amp; index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          index[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((p[i] - <a class="code" href="classpcl_1_1_grid_projection.html#aa4f7aae2108315c64836a1b5dc986c16">min_p_</a>(i)) / <a class="code" href="classpcl_1_1_grid_projection.html#a3cee8f9aa36b1bb5dc4370b90e827c8e">leaf_size_</a>);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a7be2fc98e055e9b0bdef93ad4bed5088">  258</a></span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a7be2fc98e055e9b0bdef93ad4bed5088">getCellCenterFromIndex</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;index, Eigen::Vector4f &amp;center)<span class="keyword"> const</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          center[i] = </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;            <a class="code" href="classpcl_1_1_grid_projection.html#aa4f7aae2108315c64836a1b5dc986c16">min_p_</a>[i] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (index[i]) * </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;            <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_grid_projection.html#a3cee8f9aa36b1bb5dc4370b90e827c8e">leaf_size_</a>) + </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;            <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_grid_projection.html#a3cee8f9aa36b1bb5dc4370b90e827c8e">leaf_size_</a>) / 2.0f;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a9737031e2e20bafbd0cbf68d56aab6bf">getVertexFromCellCenter</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;cell_center, </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                               std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; &amp;pts) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#ada1e79d0c17350a5d877a4bb62f49559">  280</a></span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#ada1e79d0c17350a5d877a4bb62f49559">getIndexIn1D</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        <span class="comment">//assert(data_size_ &gt; 0);</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <span class="keywordflow">return</span> (index[0] * <a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a> * <a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a> + </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;                index[1] * <a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a> + index[2]);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a0dabfb35173b2618cc09e2399229b3bc">  293</a></span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a0dabfb35173b2618cc09e2399229b3bc">getIndexIn3D</a> (<span class="keywordtype">int</span> index_1d, Eigen::Vector3i&amp; index_3d)<span class="keyword"> const</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        <span class="comment">//assert(data_size_ &gt; 0);</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        index_3d[0] = index_1d / (<a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a> * <a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a>);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        index_1d -= index_3d[0] * <a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a> * <a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        index_3d[1] = index_1d / <a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a>;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        index_1d -= index_3d[1] * <a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a>;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        index_3d[2] = index_1d;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#addddfa2765e87d007286da283e1bb785">fillPad</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;index);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a8911f8091c13fced97e02517394cc92b">getDataPtsUnion</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;index, std::vector &lt;int&gt; &amp;pt_union_indices);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#ac5eb7fadd9ea168c7e7f6b179e9e03f9">createSurfaceForCell</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;index, std::vector &lt;int&gt; &amp;pt_union_indices);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#ae80852b9daa1e3969edbcb55de2f9bfd">getProjection</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, std::vector&lt;int&gt; &amp;pt_union_indices, Eigen::Vector4f &amp;projection);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a8fcbd49493eae00ac9b08c3ad9d84470">getProjectionWithPlaneFit</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;                                 std::vector&lt;int&gt; &amp;pt_union_indices, </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;                                 Eigen::Vector4f &amp;projection);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a074763eb0e0911eaad45550917bd8d83">getVectorAtPoint</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;                        std::vector &lt;int&gt; &amp;pt_union_indices, Eigen::Vector3f &amp;vo);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a060f7e37755634942614e7db6a51bc2f">getVectorAtPointKNN</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;                           std::vector&lt;int&gt; &amp;k_indices, </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;                           std::vector&lt;float&gt; &amp;k_squared_distances,</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;                           Eigen::Vector3f &amp;vo);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a0dd2b2c908b476f89d409fdd75eaf651">getMagAtPoint</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, <span class="keyword">const</span> std::vector &lt;int&gt; &amp;pt_union_indices);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a4088a346e9317fccdf6ab2d0f6f21026">getD1AtPoint</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, <span class="keyword">const</span> Eigen::Vector3f &amp;vec, </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;                    <span class="keyword">const</span> std::vector &lt;int&gt; &amp;pt_union_indices);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a548e9827c1cb590510e55b6285952ca1">getD2AtPoint</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, <span class="keyword">const</span> Eigen::Vector3f &amp;vec, </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;                    <span class="keyword">const</span> std::vector &lt;int&gt; &amp;pt_union_indices);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#ad417229bdf16b68c1ce7830bcbfbf758">isIntersected</a> (<span class="keyword">const</span> std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; &amp;end_pts, </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;                     std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp;vect_at_end_pts, </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;                     std::vector &lt;int&gt; &amp;pt_union_indices);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a624615f1f4b63e4c7b9094bdc14a64f4">findIntersection</a> (<span class="keywordtype">int</span> level, </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;                        <span class="keyword">const</span> std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; &amp;end_pts, </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;                        <span class="keyword">const</span> std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp;vect_at_end_pts, </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;                        <span class="keyword">const</span> Eigen::Vector4f &amp;start_pt, </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;                        std::vector&lt;int&gt; &amp;pt_union_indices,</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;                        Eigen::Vector4f &amp;intersection);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#aac13ae4b11bb74d2efd2253dcca78862">storeVectAndSurfacePoint</a> (<span class="keywordtype">int</span> index_1d, <span class="keyword">const</span> Eigen::Vector3i &amp;index_3d, </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;                                std::vector&lt;int&gt; &amp;pt_union_indices, <span class="keyword">const</span> Leaf &amp;cell_data);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      <a class="code" href="classpcl_1_1_grid_projection.html#a18151db726b30e36c9e7cfbb45b4a47f">storeVectAndSurfacePointKNN</a> (<span class="keywordtype">int</span> index_1d, <span class="keyword">const</span> Eigen::Vector3i &amp;index_3d, <span class="keyword">const</span> Leaf &amp;cell_data);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a0fe973720c8ca47f13a76bff939ebff8">  462</a></span>&#160;      HashMap <a class="code" href="classpcl_1_1_grid_projection.html#a0fe973720c8ca47f13a76bff939ebff8">cell_hash_map_</a>;</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#aa4f7aae2108315c64836a1b5dc986c16">  465</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_grid_projection.html#aa4f7aae2108315c64836a1b5dc986c16">min_p_</a>, max_p_;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a3cee8f9aa36b1bb5dc4370b90e827c8e">  468</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_grid_projection.html#a3cee8f9aa36b1bb5dc4370b90e827c8e">leaf_size_</a>;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#ad89d80aba208d78bc04e9f2633d3cb20">  471</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_grid_projection.html#ad89d80aba208d78bc04e9f2633d3cb20">gaussian_scale_</a>;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">  474</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">data_size_</a>;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#aa50cfdd9a31a847389e5bcd56a4cb5e0">  477</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_grid_projection.html#aa50cfdd9a31a847389e5bcd56a4cb5e0">max_binary_search_level_</a>;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a62fd3015c12f93c2b6c9708c05350587">  480</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_grid_projection.html#a62fd3015c12f93c2b6c9708c05350587">k_</a>;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a6e450c217b04e02ef42278defbf7d5ea">  483</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_grid_projection.html#a6e450c217b04e02ef42278defbf7d5ea">padding_size_</a>;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#ace122ae8c96ea70b806f6c857d655a98">  486</a></span>&#160;      PointCloudPtr <a class="code" href="classpcl_1_1_grid_projection.html#ace122ae8c96ea70b806f6c857d655a98">data_</a>;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a98f838a58b1fec937bcfe4df9e6186bd">  489</a></span>&#160;      std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; <a class="code" href="classpcl_1_1_grid_projection.html#a98f838a58b1fec937bcfe4df9e6186bd">vector_at_data_point_</a>;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      </div>
<div class="line"><a name="l00492"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a81f1d32f2f3c2cab29be06f658fe8fbd">  492</a></span>&#160;      std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; <a class="code" href="classpcl_1_1_grid_projection.html#a81f1d32f2f3c2cab29be06f658fe8fbd">surface_</a>;</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#af0cad4a01d8f380bb319d9a9b9893f97">  495</a></span>&#160;      boost::dynamic_bitset&lt;&gt; <a class="code" href="classpcl_1_1_grid_projection.html#af0cad4a01d8f380bb319d9a9b9893f97">occupied_cell_list_</a>;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#accb89fd7f79f85b8170d99a0c7a3d965">  498</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_grid_projection.html#accb89fd7f79f85b8170d99a0c7a3d965">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="stringliteral">&quot;GridProjection&quot;</span>); }</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  };</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;}</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160; </div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// PCL_SURFACE_GRID_PROJECTION_H_</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html"><div class="ttname"><a href="classpcl_1_1_grid_projection.html">pcl::GridProjection</a></div><div class="ttdoc">Grid projection surface reconstruction method.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a0022be10a74f9928ca95c566a0cb0de5"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a0022be10a74f9928ca95c566a0cb0de5">pcl::GridProjection::performReconstruction</a></div><div class="ttdeci">void performReconstruction(pcl::PolygonMesh &amp;output)</div><div class="ttdoc">Create the surface.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:729</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a060f7e37755634942614e7db6a51bc2f"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a060f7e37755634942614e7db6a51bc2f">pcl::GridProjection::getVectorAtPointKNN</a></div><div class="ttdeci">void getVectorAtPointKNN(const Eigen::Vector4f &amp;p, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_squared_distances, Eigen::Vector3f &amp;vo)</div><div class="ttdoc">Given the location of a point, get it's vector</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:398</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a074763eb0e0911eaad45550917bd8d83"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a074763eb0e0911eaad45550917bd8d83">pcl::GridProjection::getVectorAtPoint</a></div><div class="ttdeci">void getVectorAtPoint(const Eigen::Vector4f &amp;p, std::vector&lt; int &gt; &amp;pt_union_indices, Eigen::Vector3f &amp;vo)</div><div class="ttdoc">Given the location of a point, get it's vector</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:351</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a0dabfb35173b2618cc09e2399229b3bc"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a0dabfb35173b2618cc09e2399229b3bc">pcl::GridProjection::getIndexIn3D</a></div><div class="ttdeci">void getIndexIn3D(int index_1d, Eigen::Vector3i &amp;index_3d) const</div><div class="ttdoc">Given an index in 1d, translate it into the index (x, y, z) in 3d</div><div class="ttdef"><b>Definition:</b> grid_projection.h:293</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a0dd2b2c908b476f89d409fdd75eaf651"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a0dd2b2c908b476f89d409fdd75eaf651">pcl::GridProjection::getMagAtPoint</a></div><div class="ttdeci">double getMagAtPoint(const Eigen::Vector4f &amp;p, const std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Get the magnitude of the vector by summing up the distance.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:432</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a0f79063799f9c6f47e8b8c7a61bae696"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a0f79063799f9c6f47e8b8c7a61bae696">pcl::GridProjection::reconstructPolygons</a></div><div class="ttdeci">bool reconstructPolygons(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">The actual surface reconstruction method.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:625</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a0fe973720c8ca47f13a76bff939ebff8"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a0fe973720c8ca47f13a76bff939ebff8">pcl::GridProjection::cell_hash_map_</a></div><div class="ttdeci">HashMap cell_hash_map_</div><div class="ttdoc">Map containing the set of leaves.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:462</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a18151db726b30e36c9e7cfbb45b4a47f"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a18151db726b30e36c9e7cfbb45b4a47f">pcl::GridProjection::storeVectAndSurfacePointKNN</a></div><div class="ttdeci">void storeVectAndSurfacePointKNN(int index_1d, const Eigen::Vector3i &amp;index_3d, const Leaf &amp;cell_data)</div><div class="ttdoc">Go through all the entries in the hash table and update the cellData. When creating the hash table,...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:602</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a3a200448054e67bd9f6117ebf81a1056"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a3a200448054e67bd9f6117ebf81a1056">pcl::GridProjection::getBoundingBox</a></div><div class="ttdeci">void getBoundingBox()</div><div class="ttdoc">Get the bounding box for the input data points, also calculating the cell size, and the gaussian scal...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:90</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a3cee8f9aa36b1bb5dc4370b90e827c8e"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a3cee8f9aa36b1bb5dc4370b90e827c8e">pcl::GridProjection::leaf_size_</a></div><div class="ttdeci">double leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:468</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a3dc6098c925df8dd7d769cdd9a48d388"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a3dc6098c925df8dd7d769cdd9a48d388">pcl::GridProjection::getCellIndex</a></div><div class="ttdeci">void getCellIndex(const Eigen::Vector4f &amp;p, Eigen::Vector3i &amp;index) const</div><div class="ttdoc">Get the 3d index (x,y,z) of the cell based on the location of the cell</div><div class="ttdef"><b>Definition:</b> grid_projection.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a3ff22386ab5698821cb80b801a32056c"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a3ff22386ab5698821cb80b801a32056c">pcl::GridProjection::data_size_</a></div><div class="ttdeci">int data_size_</div><div class="ttdoc">Data size.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:474</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a4088a346e9317fccdf6ab2d0f6f21026"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a4088a346e9317fccdf6ab2d0f6f21026">pcl::GridProjection::getD1AtPoint</a></div><div class="ttdeci">double getD1AtPoint(const Eigen::Vector4f &amp;p, const Eigen::Vector3f &amp;vec, const std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Get the 1st derivative</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:449</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a5411849e36c65f0f841290f9aa9fb562"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a5411849e36c65f0f841290f9aa9fb562">pcl::GridProjection::scaleInputDataPoint</a></div><div class="ttdeci">void scaleInputDataPoint(double scale_factor)</div><div class="ttdoc">When the input data points don't fill into the 1*1*1 box, scale them so that they can be filled in th...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a548e9827c1cb590510e55b6285952ca1"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a548e9827c1cb590510e55b6285952ca1">pcl::GridProjection::getD2AtPoint</a></div><div class="ttdeci">double getD2AtPoint(const Eigen::Vector4f &amp;p, const Eigen::Vector3f &amp;vec, const std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Get the 2nd derivative</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:462</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a624615f1f4b63e4c7b9094bdc14a64f4"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a624615f1f4b63e4c7b9094bdc14a64f4">pcl::GridProjection::findIntersection</a></div><div class="ttdeci">void findIntersection(int level, const std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;end_pts, const std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;vect_at_end_pts, const Eigen::Vector4f &amp;start_pt, std::vector&lt; int &gt; &amp;pt_union_indices, Eigen::Vector4f &amp;intersection)</div><div class="ttdoc">Find point where the edge intersects the surface.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:510</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a62fd3015c12f93c2b6c9708c05350587"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a62fd3015c12f93c2b6c9708c05350587">pcl::GridProjection::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">Number of neighbors (k) to use.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a64f6ad98a1afff0c76ff557c68ae7b29"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a64f6ad98a1afff0c76ff557c68ae7b29">pcl::GridProjection::~GridProjection</a></div><div class="ttdeci">~GridProjection()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a6e450c217b04e02ef42278defbf7d5ea"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a6e450c217b04e02ef42278defbf7d5ea">pcl::GridProjection::padding_size_</a></div><div class="ttdeci">int padding_size_</div><div class="ttdoc">Padding size.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:483</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a7661621ee4c96b46571cc5778b9b48cf"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a7661621ee4c96b46571cc5778b9b48cf">pcl::GridProjection::setPaddingSize</a></div><div class="ttdeci">void setPaddingSize(int padding_size)</div><div class="ttdoc">When averaging the vectors, we find the union of all the input data points within the padding area,...</div><div class="ttdef"><b>Definition:</b> grid_projection.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a79cb25cd43c17040722912dbffa5ca22"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a79cb25cd43c17040722912dbffa5ca22">pcl::GridProjection::GridProjection</a></div><div class="ttdeci">GridProjection()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a7be2fc98e055e9b0bdef93ad4bed5088"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a7be2fc98e055e9b0bdef93ad4bed5088">pcl::GridProjection::getCellCenterFromIndex</a></div><div class="ttdeci">void getCellCenterFromIndex(const Eigen::Vector3i &amp;index, Eigen::Vector4f &amp;center) const</div><div class="ttdoc">Given the 3d index (x, y, z) of the cell, get the coordinates of the cell center</div><div class="ttdef"><b>Definition:</b> grid_projection.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a81f1d32f2f3c2cab29be06f658fe8fbd"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a81f1d32f2f3c2cab29be06f658fe8fbd">pcl::GridProjection::surface_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; surface_</div><div class="ttdoc">An array of points which lay on the output surface.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:492</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a86f788e943e8660d1806688f8a56aec3"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a86f788e943e8660d1806688f8a56aec3">pcl::GridProjection::setMaxBinarySearchLevel</a></div><div class="ttdeci">void setMaxBinarySearchLevel(int max_binary_search_level)</div><div class="ttdoc">Binary search is used in projection. given a point x, we find another point which is 3*cell_size_ far...</div><div class="ttdef"><b>Definition:</b> grid_projection.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a8911f8091c13fced97e02517394cc92b"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a8911f8091c13fced97e02517394cc92b">pcl::GridProjection::getDataPtsUnion</a></div><div class="ttdeci">void getDataPtsUnion(const Eigen::Vector3i &amp;index, std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Obtain the index of a cell and the pad size.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:151</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a8fcbd49493eae00ac9b08c3ad9d84470"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a8fcbd49493eae00ac9b08c3ad9d84470">pcl::GridProjection::getProjectionWithPlaneFit</a></div><div class="ttdeci">void getProjectionWithPlaneFit(const Eigen::Vector4f &amp;p, std::vector&lt; int &gt; &amp;pt_union_indices, Eigen::Vector4f &amp;projection)</div><div class="ttdoc">Given the coordinates of one point, project it onto the surface, return the projected point....</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:316</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a9737031e2e20bafbd0cbf68d56aab6bf"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a9737031e2e20bafbd0cbf68d56aab6bf">pcl::GridProjection::getVertexFromCellCenter</a></div><div class="ttdeci">void getVertexFromCellCenter(const Eigen::Vector4f &amp;cell_center, std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;pts) const</div><div class="ttdoc">Given cell center, caluate the coordinates of the eight vertices of the cell</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:131</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a98f838a58b1fec937bcfe4df9e6186bd"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a98f838a58b1fec937bcfe4df9e6186bd">pcl::GridProjection::vector_at_data_point_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; vector_at_data_point_</div><div class="ttdoc">Store the surface normal(vector) at the each input data point.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:489</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_aa4f7aae2108315c64836a1b5dc986c16"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#aa4f7aae2108315c64836a1b5dc986c16">pcl::GridProjection::min_p_</a></div><div class="ttdeci">Eigen::Vector4f min_p_</div><div class="ttdoc">Min and max data points.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:465</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_aa50cfdd9a31a847389e5bcd56a4cb5e0"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#aa50cfdd9a31a847389e5bcd56a4cb5e0">pcl::GridProjection::max_binary_search_level_</a></div><div class="ttdeci">int max_binary_search_level_</div><div class="ttdoc">Max binary search level.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:477</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_aac13ae4b11bb74d2efd2253dcca78862"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#aac13ae4b11bb74d2efd2253dcca78862">pcl::GridProjection::storeVectAndSurfacePoint</a></div><div class="ttdeci">void storeVectAndSurfacePoint(int index_1d, const Eigen::Vector3i &amp;index_3d, std::vector&lt; int &gt; &amp;pt_union_indices, const Leaf &amp;cell_data)</div><div class="ttdoc">Go through all the entries in the hash table and update the cellData.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:584</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ab668b2eefe9c9136c06956ad312e6704"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ab668b2eefe9c9136c06956ad312e6704">pcl::GridProjection::setNearestNeighborNum</a></div><div class="ttdeci">void setNearestNeighborNum(int k)</div><div class="ttdoc">Set this only when using the k nearest neighbors search instead of finding the point union</div><div class="ttdef"><b>Definition:</b> grid_projection.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ac5eb7fadd9ea168c7e7f6b179e9e03f9"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ac5eb7fadd9ea168c7e7f6b179e9e03f9">pcl::GridProjection::createSurfaceForCell</a></div><div class="ttdeci">void createSurfaceForCell(const Eigen::Vector3i &amp;index, std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Given the index of a cell, exam it's up, left, front edges, and add the vectices to m_surface list....</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:177</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_accb89fd7f79f85b8170d99a0c7a3d965"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#accb89fd7f79f85b8170d99a0c7a3d965">pcl::GridProjection::getClassName</a></div><div class="ttdeci">std::string getClassName() const</div><div class="ttdoc">Class get name method.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:498</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ace122ae8c96ea70b806f6c857d655a98"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ace122ae8c96ea70b806f6c857d655a98">pcl::GridProjection::data_</a></div><div class="ttdeci">PointCloudPtr data_</div><div class="ttdoc">The point cloud input (XYZ+Normals).</div><div class="ttdef"><b>Definition:</b> grid_projection.h:486</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ad417229bdf16b68c1ce7830bcbfbf758"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ad417229bdf16b68c1ce7830bcbfbf758">pcl::GridProjection::isIntersected</a></div><div class="ttdeci">bool isIntersected(const std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;end_pts, std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;vect_at_end_pts, std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Test whether the edge is intersected by the surface by doing the dot product of the vector at two end...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:475</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ad89d80aba208d78bc04e9f2633d3cb20"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ad89d80aba208d78bc04e9f2633d3cb20">pcl::GridProjection::gaussian_scale_</a></div><div class="ttdeci">double gaussian_scale_</div><div class="ttdoc">Gaussian scale.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:471</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ada1e79d0c17350a5d877a4bb62f49559"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ada1e79d0c17350a5d877a4bb62f49559">pcl::GridProjection::getIndexIn1D</a></div><div class="ttdeci">int getIndexIn1D(const Eigen::Vector3i &amp;index) const</div><div class="ttdoc">Given an index (x, y, z) in 3d, translate it into the index in 1d</div><div class="ttdef"><b>Definition:</b> grid_projection.h:280</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_addddfa2765e87d007286da283e1bb785"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#addddfa2765e87d007286da283e1bb785">pcl::GridProjection::fillPad</a></div><div class="ttdeci">void fillPad(const Eigen::Vector3i &amp;index)</div><div class="ttdoc">For a given 3d index of a cell, test whether the cells within its padding area exist in the hash tabl...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:561</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ae80852b9daa1e3969edbcb55de2f9bfd"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ae80852b9daa1e3969edbcb55de2f9bfd">pcl::GridProjection::getProjection</a></div><div class="ttdeci">void getProjection(const Eigen::Vector4f &amp;p, std::vector&lt; int &gt; &amp;pt_union_indices, Eigen::Vector4f &amp;projection)</div><div class="ttdoc">Given the coordinates of one point, project it onto the surface, return the projected point....</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:277</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_af0cad4a01d8f380bb319d9a9b9893f97"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#af0cad4a01d8f380bb319d9a9b9893f97">pcl::GridProjection::occupied_cell_list_</a></div><div class="ttdeci">boost::dynamic_bitset occupied_cell_list_</div><div class="ttdoc">Bit map which tells if there is any input data point in the cell.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:495</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_af8ccfe1a2c8d66ca9a126d33096d2496"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#af8ccfe1a2c8d66ca9a126d33096d2496">pcl::GridProjection::setResolution</a></div><div class="ttdeci">void setResolution(double resolution)</div><div class="ttdoc">Set the size of the grid cell</div><div class="ttdef"><b>Definition:</b> grid_projection.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1_kd_tree.html">pcl::KdTree</a></div><div class="ttdoc">KdTree represents the base spatial locator class for kd-tree implementations.</div><div class="ttdef"><b>Definition:</b> kdtree.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointNT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_surface_reconstruction_html"><div class="ttname"><a href="classpcl_1_1_surface_reconstruction.html">pcl::SurfaceReconstruction</a></div><div class="ttdoc">SurfaceReconstruction represents a base surface reconstruction class. All surface reconstruction meth...</div><div class="ttdef"><b>Definition:</b> reconstruction.h:120</div></div>
<div class="ttc" id="astructpcl_1_1_grid_projection_1_1_leaf_html"><div class="ttname"><a href="structpcl_1_1_grid_projection_1_1_leaf.html">pcl::GridProjection::Leaf</a></div><div class="ttdoc">Data leaf.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:88</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
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